Les Inscriptions à la Bibliothèque sont ouvertes en
ligne via le site: https://biblio.enp.edu.dz
Les Réinscriptions se font à :
• La Bibliothèque Annexe pour les étudiants en
2ème Année CPST
• La Bibliothèque Centrale pour les étudiants en Spécialités
A partir de cette page vous pouvez :
Retourner au premier écran avec les recherches... |
Détail de l'indexation
M001800
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Ouvrages de la bibliothèque en indexation M001800
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Différentes approches de commande décentralisée à structure variable appliquées en robotique / Tarek Madani
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Titre : Différentes approches de commande décentralisée à structure variable appliquées en robotique Type de document : texte imprimé Auteurs : Tarek Madani, Auteur ; Boudjema, Fares, Directeur de thèse Editeur : [S.l.] : [s.n.] Année de publication : 2000 Importance : 95 f. Présentation : ill. Format : 30 cm. Note générale : Mémoire de Magister : Automatique : Alger, École Nationale Polytechnique : 2000
Annexe f. 96 - 107 . Bibliogr. f. 108 - 114Langues : Français (fre) Mots-clés : Commande décentralisée
Surface de glissement
Modèle de référence Robot manipulateurIndex. décimale : M001800 Résumé : La décentralisation est une méthode intéressante pour synthétiser la commande des grands systèmes.
Par ailleurs, la commande par mode de glissement est une technique robuste pour les systèmes non linéaires.
Nous proposons dans notre étude deux approches nouvelles de commande décentralisée à structure variable des robots manipulateurs à plusieurs degrés de liberté.
Les structures de commandes développées considèrent le robot comme un système interconnecté dans lequel chaque articulation constitue un sous système commandé par une station de commande locale.
L'élaboration de la première commande est basée sur une forme non linéaire de la surface de glissement, dont l'obectif est d'assurer la meilleure poursuite d'une trajectoire de référence.
La deuxième technique est la commande adaptative décentralisée à structure variable avec modèle de référence. L'objectif est d'assurer que chaque articulation poursuit un modèle de référence local.
Le problème de broutement de haute fréquence est éliminé par l'introduction des secteurs de glissement.
Les techniques de commandes développées seront appliquées par simulation au robot PUMA 560 et par une expérimentation au robot KHEPERA dont des résultats seront présentés.Différentes approches de commande décentralisée à structure variable appliquées en robotique [texte imprimé] / Tarek Madani, Auteur ; Boudjema, Fares, Directeur de thèse . - [S.l.] : [s.n.], 2000 . - 95 f. : ill. ; 30 cm.
Mémoire de Magister : Automatique : Alger, École Nationale Polytechnique : 2000
Annexe f. 96 - 107 . Bibliogr. f. 108 - 114
Langues : Français (fre)
Mots-clés : Commande décentralisée
Surface de glissement
Modèle de référence Robot manipulateurIndex. décimale : M001800 Résumé : La décentralisation est une méthode intéressante pour synthétiser la commande des grands systèmes.
Par ailleurs, la commande par mode de glissement est une technique robuste pour les systèmes non linéaires.
Nous proposons dans notre étude deux approches nouvelles de commande décentralisée à structure variable des robots manipulateurs à plusieurs degrés de liberté.
Les structures de commandes développées considèrent le robot comme un système interconnecté dans lequel chaque articulation constitue un sous système commandé par une station de commande locale.
L'élaboration de la première commande est basée sur une forme non linéaire de la surface de glissement, dont l'obectif est d'assurer la meilleure poursuite d'une trajectoire de référence.
La deuxième technique est la commande adaptative décentralisée à structure variable avec modèle de référence. L'objectif est d'assurer que chaque articulation poursuit un modèle de référence local.
Le problème de broutement de haute fréquence est éliminé par l'introduction des secteurs de glissement.
Les techniques de commandes développées seront appliquées par simulation au robot PUMA 560 et par une expérimentation au robot KHEPERA dont des résultats seront présentés.Exemplaires
Code-barres Cote Support Localisation Section Disponibilité Spécialité Etat_Exemplaire M001800 M001800 Papier Bibliothèque centrale Mémoire de Magister Disponible Documents numériques
MADANI.Tarek.pdfURL